机器人2009，Vol.31Issue(6)：518-522,528,6.
基于运动学正解的三转动并联机构迭代补偿控制
Iterative Compensation Control of 3-DOF Rotational Parallel Mechanism Based on Forward Kinematics
摘要
Abstract
The kinematics equation of a 3-DOF (degree of freedom) rotational parallel mechanism is established, and the solutions of the inverse and forward kinematics are investigated. Then the dynamics equation of the robot is built, and the dynamics characteristics are analyzed. A dynamic simulator based on this mechanism is developed to simulate the vehicle posture changes of self-propelled weapons during moving. A closed loop controller based on inverse kinematics is used to control the simulator, and an open loop iterative compensation controller based on forward kinematics is developed at the same time to correct the posture driving signal and make simulator's response approximate the posture command gradually. Experiments show that the system precision is better than 95%, which validates the effectiveness of the iterative compensation control strategy.关键词
三转动并联机构/运动学反解/运动学正解/迭代补偿控制Key words
3-DOF rotational parallel mechanism/ inverse kinematics/ forward kinematics/ iterative compensation control分类
信息技术与安全科学引用本文复制引用
代小林,黄其涛,韩俊伟,李洪人..基于运动学正解的三转动并联机构迭代补偿控制[J].机器人,2009,31(6):518-522,528,6.基金项目
教育部新世纪优秀人才支持计划资助项目(NCET-04-0325). （NCET-04-0325）
